Walks near Milford Haven
6 of our walks start within about 6 miles of Milford Haven — 36 miles of walking between them. The nearest starts 3.3 miles away: West Angle Bay to Freshwater West.
2 are circulars — park once, walk, end up back at the car. 4 are linear stages of the Coast Path, needing transport at both ends.
1 is graded easy. Grading here is about ascent, not distance — the Coast Path drops into every valley it meets and climbs straight back out.
Sorted by how far the start is from Milford Haven. Every one has parking notes, an honest difficulty grade and a safety section on its own page.
West Angle Bay to Freshwater West
Round the exposed corner where the Haven meets the Atlantic, from a sheltered bay with a café to the wildest surf beach in Wales.
6 miles · 3–3½ hours · Moderate
Starts 3 miles from Milford Haven
Freshwater West to Stack Rocks (the Castlemartin Range section)
The one stage of the Coast Path most walkers never do on the coast: the cliff route crosses a live firing range and the everyday alternative is inland.
7 miles · 3–3½ hours · Moderate
Starts 4 miles from Milford Haven
Dale to Sandy Haven
A gentle stage along the north shore of the Haven with two tidal stepping-stone crossings that will add four miles to your day if you get them wrong.
7 miles · 3½–4 hours · Moderate
Starts 6 miles from Milford Haven
The Dale Peninsula and St Ann's Head
A full-day circuit of the peninsula that guards the mouth of the Milford Haven waterway, past a lighthouse, three forts and the beach where Henry Tudor landed.
8 miles · 4–5 hours · Moderate
Starts 6 miles from Milford Haven
Distances are to the start of each walk, straight-line from the centre of Milford Haven. Several of these cross grazed clifftop with an unfenced drop — dogs on leads, and if cattle come at you while you’re holding one, let go. In an emergency anywhere near the coast, dial 999 and ask for the Coastguard.